Multi-Actuator Vehicle Steering for Lateral Disturbance Compensation
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Solution Overview
Problem
Existing vehicle systems struggle to effectively attenuate lateral disturbances while maintaining passenger comfort and smooth steering wheel action, particularly in autonomous vehicles.
Innovation Solution
A system utilizing multiple steering devices, including a front steering device and a rear steering device, along with torque vectoring and individual braking, is controlled by a processor that employs model predictive control, lateral control modules, and disturbance estimation and compensation modules to generate coordinated steering forces that counteract external lateral forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the steering wheel moves fast to quickly attenuate lateral disturbance, then the disturbance attenuation speed is improved, but the steering smoothness deteriorates causing erratic steering wheel action
Solution Approach 1:
The patent divides the steering control function into two separate steering devices: a first steering device (steering wheel) for smooth driver input, and a second steering device (actuator) for rapid disturbance compensation. This segmentation allows each device to optimize its function independently - the steering wheel maintains smooth operation while the actuator provides fast attenuation responses
Solution Approach 2:
The second steering device acts as an intermediary between the lateral disturbance and the vehicle's lateral motion. It receives control commands from the processor and generates compensating steering forces without requiring the primary steering wheel to move erratically, thus mediating between disturbance attenuation needs and steering smoothness requirements
2Ease of operation
If the steering wheel moves slowly to maintain smooth steering action, then the steering smoothness is improved, but the disturbance attenuation speed deteriorates
Solution Approach 1:
By separating steering control into two devices, the system allows the first steering device to operate slowly and smoothly for driver comfort, while the second steering device compensates by providing fast attenuation actions that would be impossible with the steering wheel alone
Solution Approach 2:
The second steering device creates a virtual copy of the steering function that can execute rapid corrections independently. This copy of the steering capability allows the primary steering wheel to remain smooth while the system as a whole achieves fast disturbance attenuation through the actuator's rapid responses
Data Source
AI summary
A vehicle includes a system performing a method for controlling a vehicle. A first steering device generates a first steering force on the vehicle, and a second steering device generates a second steering force at the vehicle. A lateral control module sends a first steering command to the first steering device. An estimation module estimates an external lateral force applied to the vehicle based on the first steering command, a second steering command applied to the second steering device, and a state of the vehicle. A compensation module determines an adjusted value of the second steering command for generating a lateral motion at the vehicle to attenuate the external lateral force and operates the second steering device of the vehicle based on the adjusted value of the second steering command to generate the second steering force at the vehicle that attenuates the external lateral force.